Conventional depth fusion paradigm aims to maintain a pre-defined output representation instead of the implicit network parameters. The mapping between coordinates and the output representation is accomplished through a deterministic data assignment, where the parameters of the output representation are incrementally updated through weighted averaging according to streaming observations. Most commonly used representations for incremental depth fusion include volumetric TSDF [1]}, [2]}, [3]}, [4]}, [5]} and surfel [6]}, [7]}, [8]}, [9]}, [10]}. On account that the representation is defined in the continuous output range, discretization is inevitable. Postprocessing is usually conducted to transform the discrete representation into a watertight mesh [11]} or render the scene as a view-dependent dense image.
